#!/bin/sh
#
# @name 3DR Iris Quadrotor SITL (Optical Flow)
#
# @type Quadrotor Wide
#

sh /etc/init.d-posix/10016_iris

if [ $AUTOCNF = yes ]
then
	# EKF2
	param set EKF2_AID_MASK 2
	param set EKF2_EVP_NOISE 0.05
	param set EKF2_EVA_NOISE 0.05

	# INAV
	param set INAV_LIDAR_EST 1
	param set INAV_W_XY_FLOW 1
	param set INAV_W_XY_GPS_P 0
	param set INAV_W_XY_GPS_V 0
	param set INAV_W_Z_GPS_P 0

	# LPE: Flow-only mode
	param set LPE_FUSION 242
	param set LPE_FAKE_ORIGIN 1

	param set MPC_ALT_MODE 2
fi
